Revision 1:70dc835f3a37, committed 2016-10-28

Comitter:

janwillembisschop

Date:

Fri Oct 28 08:55:20 2016 +0000

Parent:

0:2956e3501f8a

Commit message:

EMG filter met goede waarden

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Filter2.cpp	Fri Oct 28 08:55:20 2016 +0000
@@ -0,0 +1,14 @@
+#include "Filter2.h"
+
+double Filter2(double u, double &w1, double &w2, const double a1, const double a2, const double b0, const double b1, const double b2, const double gain)
+{
+    
+    double w = u - a1*w1 - a2*w2;
+    double y = gain * (b0*w + b1*w1 + b2*w2);
+    
+    w2 = w1;
+    w1 = w;
+    
+    return y;
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Filter2.h	Fri Oct 28 08:55:20 2016 +0000
@@ -0,0 +1,3 @@
+#include "mbed.h"
+
+double Filter2(double u, double &w1, double &w2, const double a1, const double a2, const double b0, const double b1, const double b2, const double gain);
\ No newline at end of file

--- a/FilterDesign.cpp	Fri Oct 21 12:11:52 2016 +0000
+++ b/FilterDesign.cpp	Fri Oct 28 08:55:20 2016 +0000
@@ -1,29 +1,47 @@
 #include "FilterDesign.h"
 #include "Filter.h"
 
+    // Notch 50 Hz
     double v1_50 = 0, v2_50 = 0;
-    const double a1_50 = -1.52337295428, a2_50 = 0.93195385841;
-    const double b0_50 = 1.00000000000, b1_50 = -1.61854514929, b2_50 = 1.00000000000;
-    const double gain_50 = 1.00000000000;
+    const double a1_50 = -1.53713228931, a2_50 = 0.90250000000;
+    const double b0_50 = 1.00000000000, b1_50 = -1.61803398875, b2_50 = 1.00000000000;
+    const double gain_50 = 0.95500000000;
+    
+    // Notch 100 Hz
+    double v1_100 = 0, v2_100 = 0;
+    const double a1_100 = -0.58713228931, a2_100 = 0.90250000000;
+    const double b0_100 = 1.00000000000, b1_100 = -0.61803398875, b2_100 = 1.00000000000;
+    const double gain_100 = 0.95200000000;
     
+    // Notch 200 Hz
+    double v1_200 = 0, v2_200 = 0;
+    const double a1_200 = 1.53713228931, a2_200 = 0.90250000000;
+    const double b0_200 = 1.00000000000, b1_200 = 1.61803398875, b2_200 = 1.00000000000;
+    const double gain_200 = 0.95500000000;
+    
+    // High pass 50 Hz 
+    double v1_HP = 0, v2_HP = 0;
+    const double a1_HP = -1.47413760026, a2_HP = 0.60062500000;
+    const double b0_HP = 1.00000000000, b1_HP = -2.00000000000, b2_HP = 1.00000000000;
+    const double gain_HP = 0.77000000000;
+    
+    // Low pass 0.7 Hz
     double v1_LP = 0, v2_LP = 0;
-    const double a1_LP = -1.93503824887, a2_LP = 0.93708289663;
+    const double a1_LP =  -1.80000000000, a2_LP = 0.81000000000;
     const double b0_LP = 1.00000000000, b1_LP = 2.00000000000, b2_LP = 1.00000000000;
-    const double gain_LP = 0.000511;
-    
-    double v1_HP = 0, v2_HP = 0;
-    const double a1_HP = -0.76475499450, a2_HP = 0.27692273367;
-    const double b0_HP = 1.00000000000, b1_HP = -2.0, b2_HP = 1.00000000000;
-    const double gain_HP = 0.510419;
+    const double gain_LP = 0.0025100000000;
 
 double FilterDesign(double u)
 {
     
     double y_50 = Filter(u,v1_50,v2_50,a1_50,a2_50,b0_50,b1_50,b2_50,gain_50);
-    double y_HP = Filter(y_50,v1_HP,v2_HP,a1_HP,a2_HP,b0_HP,b1_HP,b2_HP,gain_HP);
+    double y_100 = Filter(y_50,v1_100,v2_100,a1_100,a2_100,b0_100,b1_100,b2_100,gain_100);
+    double y_200 = Filter(y_100,v1_200,v2_200,a1_200,a2_200,b0_200,b1_200,b2_200,gain_200);
+    double y_HP = Filter(y_200,v1_HP,v2_HP,a1_HP,a2_HP,b0_HP,b1_HP,b2_HP,gain_HP);
     double y_abs = fabs(y_HP);
     double y_LP = Filter(y_abs,v1_LP,v2_LP,a1_LP,a2_LP,b0_LP,b1_LP,b2_LP,gain_LP);
-    double y = 10 + y_LP;
+    
+    double y = y_LP;
     
     return y; 
     

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FilterDesign2.cpp	Fri Oct 28 08:55:20 2016 +0000
@@ -0,0 +1,48 @@
+#include "FilterDesign2.h"
+#include "Filter2.h"
+
+    // Notch 50 Hz
+    double w1_50 = 0, w2_50 = 0;
+    const double a1_50 = -1.53713228931, a2_50 = 0.90250000000;
+    const double b0_50 = 1.00000000000, b1_50 = -1.61803398875, b2_50 = 1.00000000000;
+    const double gain_50 = 0.95500000000;
+    
+    // Notch 100 Hz
+    double w1_100 = 0, w2_100 = 0;
+    const double a1_100 = -0.58713228931, a2_100 = 0.90250000000;
+    const double b0_100 = 1.00000000000, b1_100 = -0.61803398875, b2_100 = 1.00000000000;
+    const double gain_100 = 0.95200000000;
+    
+    // Notch 200 Hz
+    double w1_200 = 0, w2_200 = 0;
+    const double a1_200 = 1.53713228931, a2_200 = 0.90250000000;
+    const double b0_200 = 1.00000000000, b1_200 = 1.61803398875, b2_200 = 1.00000000000;
+    const double gain_200 = 0.95500000000;
+    
+    // High pass 50 Hz 
+    double w1_HP = 0, w2_HP = 0;
+    const double a1_HP = -1.47413760026, a2_HP = 0.60062500000;
+    const double b0_HP = 1.00000000000, b1_HP = -2.00000000000, b2_HP = 1.00000000000;
+    const double gain_HP = 0.77000000000;
+    
+    // Low pass 0.7 Hz
+    double w1_LP = 0, w2_LP = 0;
+    const double a1_LP =  -1.80000000000, a2_LP = 0.81000000000;
+    const double b0_LP = 1.00000000000, b1_LP = 2.00000000000, b2_LP = 1.00000000000;
+    const double gain_LP = 0.0025100000000;
+    
+double FilterDesign2(double u)
+{
+    
+    double y_50 = Filter2(u,w1_50,w2_50,a1_50,a2_50,b0_50,b1_50,b2_50,gain_50);
+    double y_100 = Filter2(y_50,w1_100,w2_100,a1_100,a2_100,b0_100,b1_100,b2_100,gain_100);
+    double y_200 = Filter2(y_100,w1_200,w2_200,a1_200,a2_200,b0_200,b1_200,b2_200,gain_200);
+    double y_HP = Filter2(y_200,w1_HP,w2_HP,a1_HP,a2_HP,b0_HP,b1_HP,b2_HP,gain_HP);
+    double y_abs = fabs(y_HP);
+    double y_LP = Filter2(y_abs,w1_LP,w2_LP,a1_LP,a2_LP,b0_LP,b1_LP,b2_LP,gain_LP);
+    
+    double y = y_LP;
+    
+    return y; 
+    
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/FilterDesign2.h	Fri Oct 28 08:55:20 2016 +0000
@@ -0,0 +1,3 @@
+#include "mbed.h"
+
+double FilterDesign2(double u);
\ No newline at end of file

--- a/main.cpp	Fri Oct 21 12:11:52 2016 +0000
+++ b/main.cpp	Fri Oct 28 08:55:20 2016 +0000
@@ -2,28 +2,109 @@
 #include "HIDScope.h"
 #include "Filter.h"
 #include "FilterDesign.h"
+#include "Filter2.h"
+#include "FilterDesign2.h"
 
-AnalogIn    emg(A0);
+AnalogIn    emg1(A0);
+AnalogIn    emg2(A1);
 
 Ticker      sample_timer;
-HIDScope    scope(2);       // 2 scopes
+HIDScope    scope(4);       // 2 scopes
+
+
+// Motor aanroepen
+DigitalOut motor_1(D7); //richting (1 of 0)
+PwmOut pwm_motor_1(D6); //snelheid (tussen 0 en 1?)
+DigitalOut motor_2(D4); //richting (1 of 0)
+PwmOut pwm_motor_2(D5); //snelheid (tussen 0 en 1?)
+InterruptIn stop(SW3); //stoppen
+InterruptIn turn_1(D9); //wisselen van kant (button 1)
+InterruptIn turn_2(D10); //wisselen van kant (button 2)
+Serial pc(USBTX, USBRX); //USB ports aanroepen
+Ticker faster_slower; //Ticker voor functie om sneller en langzamer te gaan
+
+DigitalOut led1(D2);
+DigitalOut led2(D3);
+
+DigitalOut led_red(LED_RED);
+DigitalOut led_green(LED_GREEN);
+DigitalOut led_blue(LED_BLUE);
+
+volatile double y1;
+volatile double y2;
+volatile double u1;
+volatile double u2;
 
 void sample()
 {
     
-    double u = emg.read();      // ongefitlerd
-    double y = FilterDesign(u); // gefilterd
+    double u1 = emg1.read();      // ongefitlerd
+    double y1 = FilterDesign(u1);  // gefilterd
+    double u2 = emg2.read();      // ongefitlerd
+    double y2 = FilterDesign2(u2);  // gefilterd
     
-    scope.set(0,u); // ongefilterd naar scope 0
-    scope.set(1,y); // gefilterd naar scope 1
+    scope.set(0,u1); // ongefilterd emg1 naar scope 0
+    scope.set(1,y1); // gefilterd emg1 naar scope 1
+    scope.set(2,u2); // ongefilterd emg2 naar scope 2
+    scope.set(3,y2); // gefilterd emg2 naar scope 3
     
     scope.send();
+    
+    /*
+    if (y1 > 0.05)
+    {
+        motor_1 = 1;
+        pwm_motor_1 = 0.6;
+    }
+    else
+    {
+        pwm_motor_1 = 0;
+    }
+    
+    if (y2 > 0.05)
+    {
+        motor_2 = 1;
+        pwm_motor_2 = 0.6;
+    }
+    else
+    {
+        pwm_motor_2 = 0;
+    }
+    */
+    
+    if (y1 >= 0.06)
+    {
+        led_red.write(0);   // aan
+        led_green.write(1); // uit
+        led_blue.write(1);  // uit
+    }
+    if (y2 >= 0.09)
+    {
+        led_red.write(1);   // uit
+        led_green.write(0); // aan
+        led_blue.write(1);  // uit
+    }
+    if (y1 >= 0.06 & y2 >= 0.09)
+    {
+        led_red.write(1);   // uit
+        led_green.write(1); // uit
+        led_blue.write(0);  // aan
+    }
+    else if (y1 < 0.06 & y2 < 0.09)
+    {
+        led_red.write(1);   // uit
+        led_green.write(1); // uit
+        led_blue.write(1);  // uit
+    }
+    
 }
 
+
+
 int main()
 {   
-    
-    sample_timer.attach(&sample, 0.002); // 500 Hz
+    pc.baud(115200);
+    sample_timer.attach(&sample, 0.01); // 500 Hz
     
     while(1) {}
 }
\ No newline at end of file